Simulación y diseño del prototipo de un vehículo autobalanceado.

Enlos últimos tiempos la implementación de los vehículos de transporte unipersonal ha ido en aumento en la sociedad. Su sencillez y flexibilidad de uso hacen de ellos incluso una mejor opción que los coches o las motocicletaspara desplazamientos cortos, además detener a su favor unmenor consumo respecto a estosúltimosparaun mismo viaje. Entre los transportes unipersonales, el vehículo unipersonal autobalanceadotipo segwayes el más común de ellos. Este tipode vehículoconsiste en una plataformacon una o dos ruedas que permite a su usuario desplazarse hacia la dirección en la que inclinesu peso, manteniéndolo a su vezequilibrado en una posición vertical. Esteproyectose centraen elanálisistecnológicoy del mercadode este tipo de transportes, para posteriormenterealizar unestudio detalladoa través del diseño de un prototipo simplificado y su posterior simulación de funcionamiento haciendo especial hincapié en el sistema de equilibrado del usuario. El objetivo principal de este proyecto es quemediante los conocimientos adquiridos en este campose diseñeunprototipo quepueda llegar a servir como modelo de aprendizaje paraesta clase devehículos detransporte.Con tal dediseñar el prototipo,en primer lugarse ha estudiado los vehículos unipersonales autobalanceadosexistentes en el mercadopara posteriormente proponer un vehículosencillocon el menor número de componentesposibles,reduciendo así su complejidada la vez querespectando en todo momento las funcionalidades principalesde un vehículo autobalanceado.Con este propósitose ha optado por diseñar un prototipo propulsado por 2 motores huby evitando asíel uso de engranajes complejos para la transmisión.Con el fin de analizar el vehículo, a partir del planteamiento de las ecuaciones del problema matemático del vehículose realiza una simulación de funcionamiento.Posteriormenteserepresentaenuna hoja de cálculo la solucióndel equilibrado del sistemamediante el diseño de un controlador PID. Siguiendo el mismo proceder,se realiza una simulación del consumo del prototipo en llano para determinar la autonomía teórica del vehículo.Paralelamentese diseña,medianteel programade diseño asistido por ordenador SolidWorks 2018, un concepto de prototipo a partir de la unión de piezassencillascon la clara intención de facilitar su entendimiento así como su futurible construcción. A continuación,se realizaun estudio de la base con elementos finitos para comprobar que el diseño puedesoportar las cargas de trabajo

Drug delivery properties of macroporous polystyrene solid foams

Purpose. Polymeric porous foams have been evaluated as possible new pharmaceutical dosage forms. Methods. These materials were obtained by polymerization in the continuous phase of highly concentrated emulsions prepared by the phase inversion temperature method. Their porosity, specific surface and surface topography were characterized, and the incorporation and release of active principles was studied using ketoprofen as model lipophilic molecule. Results. Solid foams with very high pore volume, mainly inside macropores, were obtained by this method. The pore morphology of the materials was characterized, and very rough topography was observed, which contributed to their nearly superhydrophobic properties. These solid foams could be used as delivery systems for active principles with pharmaceutical interest, and in the present work ketoprofen was used as a model lipophilic molecule. Conclusions. Drug incorporation and release was studied from solid foam disks, using different concentrations of the loading solutions, achieving a delayed release with short lag-timePostprint (published version

Comparació entre els sistemes de classificació de grau tumoral WHO 1973 y WHO 2004 en el càncer vesical en relació a la seva associació a CISIS, recurrènncia i progressió en tumors TA

El nou sistema de classificació de grau de la WHO 2004 millora la variació interobservador entre patòlegs. L'associació a carcinoma in situ (CIS) és un factor pronòstic de recurrència i progressió en càncer no músculo- invasiu, i la incidència real del CIS en aquests tumors és desconeguda, ja que les biòpsies vesicals múltiples randomitzades no es fan rutinàriament en tots els tumors primaris. Globalment, el pronòstic dels tumors Ta és bona, però alguns són d'alt grau o estan associats a CIS. Evaluem l'associació dels tumors Ta a CIS, les taxes de recurrència i progressió comparant els sistemes de classificació WHO del 1973 amb els de 200

Polyamide fabric coated with a DHA-loaded chitosan hydrogel for a cosmeto-textile application

Cosmeto-textiles, which allow the administration of molecules when in contact with the skin, are increasingly being developed by cosmetic industries. We have designed an innovative approach for cosmeto-textile products, based on the impregnation of textile fibers with chitosan hydrogels, which have been cross-linked with genipin and loaded with dihydroxyacetone, which is an active component that induces sunless tanning. Dihydroxyacetone-loaded chitosan hydrogels have been prepared and characterized by means of cryogenic scanning electron microscopy (cryo-SEM). The images showed that genipin cross-linking decreases the mesh distance of hydrogels. The release of dihydroxyacetone from these cross-linked genipin chitosan hydrogels has been studied by a dialysis membrane method. These dihydroxyacetone-loaded chitosan hydrogels have been incorporated to polyamide textiles by a simple padding technique. The presence of dihydroxyacetone on these textiles has been detected by hyperspectral imaging on a dark field high resolution optical microscope. Finally, the performance of fabrics as cosmeto-textiles, with a tanning effect, has been evaluated by skin-colorimetry measured with an evaluation panel of 10 people. The results have demonstrated that dihydroxyacetone-loaded textiles produce a tanning effect on skin, and incorporation of dihydroxyacetone-loaded chitosan hydrogels into polyamide fabrics represents a friendly and appropriate strategy to obtain a cosmeto-textile with tanning effect

Adaptable photochromic switches with self-aggregating heterocyclic azo dyes

It is well-known that the thermal isomerization kinetics of photochromic azo dyes can be modulated by subtle changes in their chemical architecture. However, the availability of an orthogonal input to control the thermal relaxation of azo dyes is essential to enable access to multifunctional and adaptive photochromic switches based on these particular organic chromophores. In this work, we have designed and synthesized a new family of green-light-activated heterocyclic azo derivatives that modify their switching capabilities as a function of concentration. In this line, we have investigated their self-assembly and the nature of the supramolecular aggregates formed by means of dynamic light scattering, polarized optical microscopy, and X-ray diffraction. Indeed, imparting control over the self-assembly of these organic dyes allows to fine-tune their thermal relaxation time and produce adaptable photochromic switches. Specifically, swapping the azo dye concentration between values located above and below the corresponding critical aggregation concentration modifies significantly the relaxation time up to 250 times, i.e., from the millisecond to the microsecond timescale. Moreover, the optical density of the system can be switched back and forth hundreds of times, for both diluted and concentrated solutions, without any sign of fatigue.Financial support for this research was obtained from the Ministerio de Economia y Competitividad (Spain, PGC2018-095477-B-I00, CTQ2016-78454-C2-1-R, and CTQ2017-84998-P MINECO/FEDER). Thanks are also due to Fundacao para a Ciencia e Tecnologia (Portugal) for financial support to the Portuguese NMR network (PTNMR, Bruker Avance III 400-Univ. Minho), FCT, and FEDER (European Fund for Regional Development)-COMPETEQREN-EU for financial support to the research centre CQ/UM [ref UID/QUI/00686/2013 and UID/QUI/0686/2016], and a PhD grant to M.C.R.C. (SFRH/BD/78037/2011)

Formation and stabilization of multiple water-in-water-in-water (W/W/W) emulsions

Multiple Water-in-Water-in-Water (W/W/W) emulsions have been prepared, stabilized and characterized. The main objective has been to find a simple and low-cost method for the preparation of W/W/W emulsions. The system composed of gelatin, maltodextrin and water has been used, and two different methods have been studied for producing multiple emulsions in this system. In the first method, maltodextrin-in-gelatin (M/G) emulsions with small droplet size were formed by pH-induced nucleation of maltodextrin droplets, and afterwards, maltodextrinin-gelatin-in-maltodextrin (M/G/M) multiple emulsions were obtained by dispersing M/G droplets into maltodextrin solutions. The second method consisted in cooling down gelatin-inmaltodextrin (G/M) emulsions, leading to the spontaneous formation of inner maltodextrin droplets. The latter method allowed producing more homogenous M/G/M multiple emulsion droplets. The colloidal stability of such emulsions greatly improved with the addition of mucin particles, which is a glycoprotein that adsorbs on the G/M interface. Stable M/G/M multiple emulsions have been prepared and characterized by fluorescence optical microscopy, where contrast has been enhanced through covalently labelling the various components with fluorescent dyes. To our knowledge, this is the first report of a simple and cost-effective method for the production of multiple W/W/W emulsions, without using microfluidic techniques. Moreover, the present work also demonstrates that mucin microparticles can be effective stabilizers for protein-in-polysaccharide emulsions, and these dispersions can be easily prepared by phase transition methods

Formation of nanoemulsion containing ibuprofen by PIC method for topical delivery

This study reports the formation of nanoemulsions from palm-kernel oil esters (PKOE)/Cremophor EL/water systems intended for topical administration of a non-steroidal anti-inflammatory drug, ibuprofen. Nanoemulsions containing 2% ibuprofen, various oil:surfactant ratios (10:90, 20:80 and 30:70) and 80% of water were selected from the ternary system of PKOE/Cremophor EL/water and prepared by the phase inversion composition (PIC) method. The characterization of the nanoemulsions such as droplet size, polydispersity index, zeta potential, stability and the permeation of ibuprofen from nanoemulsions were evaluated. The prepared nanoemulsions exhibited good stability without any phase separation, sedimentation or creaming for the period of tested experimental time (6 months). The permeation study of ibuprofen was performed on Franz type-diffusion cells through human abdominal skin. The median values of the fluxes obtained as well as the median of the percentage of permeated amount at 24h were not statistically different. The mean profiles of permeated ibuprofen versus time from PKOE was greater (p < 0.05) than those obtained from Miglyol 812

Interaction forces between particles stabilized by a hydrophobically modified inulin surfactant.

Submitted versio